CN103796912B - Autonomous underwater system for 4D environmental monitorings - Google Patents
Autonomous underwater system for 4D environmental monitorings Download PDFInfo
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- CN103796912B CN103796912B CN201280023873.3A CN201280023873A CN103796912B CN 103796912 B CN103796912 B CN 103796912B CN 201280023873 A CN201280023873 A CN 201280023873A CN 103796912 B CN103796912 B CN 103796912B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
- B63C11/36—Diving chambers with mechanical link, e.g. cable, to a base of closed type
- B63C11/42—Diving chambers with mechanical link, e.g. cable, to a base of closed type with independent propulsion or direction control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/04—Superstructure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/08—Propulsion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/008—Docking stations for unmanned underwater vessels, or the like
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Medicines Containing Antibodies Or Antigens For Use As Internal Diagnostic Agents (AREA)
Abstract
For the autonomous underwater system (100) of environmental monitoring, including：Comprehensive submerged stations (101), it is equipped with the instrument and equipment (202) carried；At least one modular autonomous underwater robot (102), the robot are treating to move along a specified path 106 in area to be monitored (107)；At least one external instrument EM equipment module (206), the external instrument EM equipment module can connect to the robot (102)；Wherein, the comprehensive submerged stations (101) include docks (204), interface system (220), change system (207) and management system (201) for providing the instrument and equipment module (206) for robot (102).
Description
Technical field
The present invention relates to a kind of autonomous underwater system, for lasting, original place, long-term and a wide range of environmental monitoring, is particularly
For measuring close to seabed and along water column ambient parameter.
Background technology
Measuring environment parameter means especially important activity in environment under water, it is most important that close to danger zone,
Such as region of recovering the oil.
In order to be monitored in marine performing environment, generally implement periodic measurement activity, and using instrument and collect sample, with
Continue lab analysis after an action of the bowels.This method is obviously not sufficient to ensure that the dynamic for aligning afoot phenomenon has complete understanding,
And the generation of anomalous event in use can not be detected.
When needing Continuous Observation ability, permanent underwater observation platform is used, and the underwater observation platform passes through appropriate instrument
Device can collect the data on surrounding environment.
The exact method is useful to the parameter for being related to long-range circumstances phenomenon for monitoring, as earthquake, tsunami, volcano are lived
It is dynamic, but it is not readily used for monitoring on a large scale.
In order to overcome the shortcoming, autonomous underwater robot, i.e., AUV (autonomous underwater robot) well known in the art is by more next
Use more.
These robots are generally equipped with drive system and You Guan underwater for collecting for the propulsion of sub-aqua sport
The various measuring instruments of the data of environment.
If be suitably programmed, AUV allows in the case of without artificial interference, and several hours are carried out to presumptive area
Undersea detection.
However, the duration of these detected events is influenceed by robot energy autonomy, terminate in each measurement
When, robot must reach base, to download the information being collected into, and energy storage device be recharged.
These bases or website are normally on the water surface, so as to human manipulation, especially for more simply managing machine
The data that people parks, reconfigured, recharging.
Submerged stations are it is known in the art that it allows robot to be managed under water in environment.
Especially, these websites allow robot to recharge and allow the artificial subsequent measurement of machine and upload/download it
Carry the data that instrument is collected into and reconfigure.
The technology make it that the autonomy of robot is improved, therefore robot is unlimited in theoretic time
Phase interior energy continuous probe seabed.
Patent application US 2009/0095209 describes a submerged stations, and the submerged stations, which are equipped with, to be used to receive
AUV, the device for recharging and exchanging information therewith for its battery.
The long-time that the program allows to handle in environment under water completely detects.
Another example for AUV submerged stations is described in patent application US 2009/0114140, which depict
System for supporting underwater operation.From the point of view of energy, communication and safeguarding angle, the system allows to AUV, ROV (remote-controlled machine
People) and HROV (mixing remote-controlled robot) manipulation.
Especially, the system is contacted when these robots enter, they can receive the energy of detection, exchange information (i.e.
The data being collected into by carrying instrument), and safeguarded.
However, such also like technology currently known in the art, the system does not allow the detection mission of robot to deacclimatize
Current specific needs, it is particularly them and the instrument and equipment of robot is reconfigured not in underwater environment.
This requires that for each type of detection robot must be equipped with priori and ad hoc equipment.
In the method and system being known in the art, the shortage of this flexibility is limited in environment under water using current
The independence of detecting strategy.
It has been discovered by the applicants that these robots are recharged and are carried out with communication friendship by using submerged stations
Change, establishing the demand of independent and autonomous system that can be movable with a wide range of undersea detection for a long time can only partly obtain
Meet.
In the prior art, this is used also with the autonomous underwater robot according to modular construction and by, it is known that the module
Formula construction allows robot, and certain sets flexibility.The technology allows for being suitable to the underwater for meeting various operational requirements
People.
For example, patent application WO 03/059734 describes a kind of AUV by mechanical module structure, work as mechanical model
When block be combined with each other, the AUV for meeting current particular probe demand is formd.
In this case, AUV is formed under open-air atmosphere by the assembling of various modules to manually complete, but not ring under water
Manually completed in border.
For the autonomous underwater robot being currently known, AUV has the timely and autonomous tune of direct environment under water
Ability processed is impossible.Float AUV again from depths so as to increase or change and carry the demand of instrument and then mean greatly
The time of amount wastes, and it significantly limit the operating flexibility of these systems.
Therefore, applicant has devised a kind of autonomous underwater robot, and the robot can be accommodated outside one or more
Portion's instrument and equipment module, external instrument EM equipment module can be exchanged directly at the scene, without the manual intervention of operator, so that because
This makes device adapt to current particular probe demand completely.
The content of the invention
The purpose of the present invention is to overcome disadvantages mentioned above, is especially to provide autonomous underwater system, and the autonomous underwater system is used for
Long-time, continuously, at the scene and in a wide range monitoring and marine environment relevant parameter are realized, the autonomous underwater system is by integrated water
Lower website and at least one autonomous underwater robot are formed, and they cooperate with each other, to allow various types of environment detections.
Especially, the present invention is used to monitor influence, the characteristic in performance untapped region, support dirt of the offshore activities to environment
Contaminate the integrality of the structure of the management, monitoring in area in underwater environment and examine third party to enter and treat monitored district
Possibility in domain.
It is a further object to provide the autonomous underwater robot for various environmental monitorings, and it can pass through outside
Instrument and equipment module is adjusted, and external instrument EM equipment module may be connected to the main body of robot.
It is a further object to provide comprehensive submerged stations, site equipment realizes various environment under the integrated water
The device and instrument of measurement type.
It is a further object to provide comprehensive submerged stations, site equipment has manipulation and assembling die under the integrated water
The device of block formula autonomous underwater robot.
For the present invention it is still a further object to provide a kind of method for four-dimensional environmental monitoring, this method can be along three-dimensional
Space is on time detecting data.
The these and other objects of the present invention can be by providing the autonomous water for four-dimensional environmental monitoring according to the present invention
Lower system realizes that the autonomous underwater system includes：Comprehensive submerged stations, site equipment carries instrument and set under the integrated water
It is standby；At least one modular autonomous underwater robot, the modular autonomous underwater robot treat in area to be monitored along
Fixed route can move；At least one external instrument equipment of the modular autonomous underwater robot can be attached to；
Characterized in that, the comprehensive submerged stations include：
- at least one docks, the docks are suitable to accommodate the modular autonomous underwater robot；
- at least one interface system, the interface system are suitable to the modular autonomous underwater robot with having stopped
Communication；
- at least one conveyer structure, the conveyer structure are suitable for the modular autonomous underwater machine stopped
Device people provides at least one external instrument equipment, and including at least one diamond, the diamond is suitable to storage institute
State at least one external instrument equipment；
- at least one management system, the management system are suitable to the operation for managing the comprehensive submerged stations.
Brief description of the drawings
According to the present invention the autonomous underwater system for four-dimensional environmental monitoring feature and advantage from it is following it is illustrative with
Significantly more shown in nonrestrictive description, referring to accompanying drawing, wherein：
- Fig. 1 is the schematic diagram according to the preferred embodiment of the autonomous underwater system for four-dimensional environmental monitoring of the present invention；
- Fig. 2 is located at the perspective view of the synthesis submerged stations preferred embodiment in seabed；
- Fig. 3 a are the schematic diagrames of modular autonomous underwater robot and connected external instrument EM equipment module；
- Fig. 3 b are the perspectives of the preferred embodiment for the autonomous underwater robot that can be adjusted by external instrument EM equipment module device
Figure；
- Fig. 4 a be the change system of autonomous underwater robot and formed comprehensive submerged stations it is a part, for autonomous
The profile perspective of the docks of underwater robot；
- Fig. 4 b are the perspectives of a part for change system and the comprehensive submerged stations of formation equipped with instrument and equipment module
Figure；
- Fig. 4 c are the perspective views for the instrument and equipment module that can connect to autonomous underwater robot；
- Fig. 5 is comprehensive submerged stations sectional elevation perspective view, wherein, modular autonomous underwater robot is stopped, to lead to
Cross external instrument EM equipment module and perform equipment operation.
Embodiment
Referring to accompanying drawing, those figures show the autonomous underwater system that one is used for four-dimensional environmental monitoring, it is used on the whole
Reference 100 represents.
First purpose of the present invention is related to the autonomous underwater system 100 for environmental monitoring, and it includes：Stood under integrated water
Point 101, the synthesis submerged stations 101, which are equipped with, carries instrument and equipment 202；At least one autonomous, modular underwater robot
102, the underwater robot 102 is being treated to move along specified path 106 in area to be monitored 107；With at least one outside instrument
Device EM equipment module 206, the external instrument EM equipment module 206 can connect to the robot 102；Wherein, stood under the integrated water
Point 101 is characterised by that it includes：
- at least one docks 204, the docks 204 are suitable to accommodate the robot 102；
- at least one interface system 220, the interface system 220 are suitable to communicate with the robot 102 stopped；
- at least one change system 207, the change system 207 are suitable for the robot 102 stopped and provide institute
Instrument and equipment module 206 is stated, and including at least one diamond 208, the diamond 208 is suitable to deposit the module 206；
- at least one management system 201, the management system 201 are suitable to the function of managing the website 101.
It is described to treat that area to be monitored 107 be the general underwater region about offshore activities, wherein have oil conservator 103,
The pipeline and cable 105 that are connected with surface structure 104 and it is conventionally present in the underwater region for being related to oil gas activity any
The extraction of equipment and interface infrastructure.
Especially, the surface structure 104 being connected by pipeline and cable 105 with underwater region can be floating platform or attached
It is connected to the structure in seabed.
In a preferred embodiment of the invention, the modular autonomous underwater robot 102 is by along fixed route 106
Treat area to be monitored 107 described in detection, the fixed route 106 is according to uniform machinery people from the path of host computer or pre-programmed
Path.
Especially, the fixed route 106 can be made up of straight path and/or serpentine track, route constant and/or
In variable depth, preferably between 0-1500 rice.
In a preferred embodiment of the invention, the comprehensive submerged stations 101 include metal frame 205, the metal structure
Frame 205 is preferably made up of aluminium alloy, can be parked in by the supporting leg 210 with support feet 212 on seabed.
The framework 205 allows physical protection, to avoid to carrying instrument and equipment 202, instrument and equipment module 206 and stopping
Contingency caused by leaning against the underwater robot 102 of website 101 and any other equipment included in website 101.
The framework 205 also allows interface system 220, change system 207, management system 201 and comprehensive submerged stations 101
Interior various parts are included therein.
In a preferred embodiment of the invention, the modular autonomous underwater robot 102 treats area to be monitored described
In 107 perform monitoring task, by carry be arranged on robot 102 on instrument and/or by the external instrument equipment mould
Block 206, is collected on underwater environment and the complete data of the foundation structure on operating wherein.
In a preferred embodiment of the invention, the change system 207 is that the robot 102 provides most suitable instrument
EM equipment module 206, it is therefore an objective to which monitor task is carried out according to the instruction received from the management system 201.
In a preferred embodiment of the invention, the external instrument EM equipment module 206 is maintained in diamond 208, is parked
Area 208 is located in framework 205, and equipped with electromechanical instrument (not shown), it allows module 206 to be connected/disengagement connection with website.
Especially, the instrument and equipment module 206 is stored in the diamond 208, and is worked as and be connected to described park
During area 208, the instrument and equipment module 206 can be recharged, configure, program and be run by management system 201.
In certain embodiments of the invention, the diamond 208 is automatic system, it is preferable that for rotating device (figure
4b), its detection mission or remote control based on programming is driven to manipulate instrument and equipment module 206, to realize to underwater
The loading or unloading operation of people 102.
Once the instrument and equipment module 206 has been disengaged with the diamond 208 and has been connected, they just pass through change system
Electromechanical assembly (not shown) in 207 is placed on underwater robot 102.
In a preferred embodiment of the invention, the comprehensive submerged stations 101 include carrying instrument and equipment 202, and this is carried
Instrument and equipment 202 can be fixed 209 or movable 213, suitable for measuring at least one following parameter：
- temperature；
- electric conductivity；
The concentration and/or saturation degree percentage of-dissolved oxygen；
- turbidity；
The concentration and/or distribution map of-suspended particulate；
- fluorescence (for example, being related to chlorophyll and CDOM)；
- pH value；
The concentration of-dissolved gas is (for example, CH4、H2S、CO2)；
The concentration (for example, PAH) of-hydrocarbon；
The concentration (for example, nitrate, phosphate, silicate, ammonia) of-nutriment；
The concentration of-minor metallic element；
The direction of-ocean current and velocity contour；
The height of-wave and direction；
- tidal level；
- acoustic pressure is (for example, by presence of the hydrophone to the marine organisms of such as Cetacean and by carrying out acoustics
Monitoring)；
The biological respinse of-the organism to live is (for example, the opening/closing frequency of particularly instrumented molluscan fixture
Rate).
In a preferred embodiment of the invention, the instrument and equipment 209 that carries of the fixation is fully accommodated in framework 205,
And including at least one sensor 214 and at least one local control unit 215, local control unit 215 is suitable to management and sensed
The institute of device is functional, for example, gathered data, energy supply, control, etc..
In a preferred embodiment of the invention, the movable instrument and equipment 213 that carries carries instrument and equipment with fixed
209 differences are, due to floating unit 217, the movable instrument and equipment 213 that carries can be by measuring instrument equipment slave station
Point 101 removes, and the inside of floating unit 217 is equipped with least one sensor and cable 218, and cable 218 prevents floating unit and station
Point 101 is disconnected.
When the action winding by capstan winch 216, due to itself conjugation with website 101, the cable 218 allows to fill
The floating unit 217 for having sensor is returned in website 101.
This vertical motion of floating unit 217, enabling draw the profile (profiling) of water column, pass through appearance
It is contained in underwater environment data of the sensor collection therein at the different height seabed.
In a preferred embodiment of the invention, the comprehensive submerged stations 101 include the management in the framework 205
System 201, the management system 201 are suitable to the function of admin site, the particularly various communications carried between instrument and equipment；With
Interface between surface structure 104；The distribution and regulation of power supply；The monitoring of systems technology parameter (state, alarm etc.)；By each
The collection and storage for the data that kind instrument obtains；The configuration and selection of external instrument EM equipment module 206；And the volume of monitoring task
Journey.
Especially, the management system 201 can be connected by least one umbilical cable 211 with surface structure 104, navel
Belt cable 211 allows transmission data and/or the energy supply of website 101.
In a preferred embodiment of the invention, the comprehensive submerged stations 101 include stopping inside the framework 205
By region 204, the docks 204 are adapted to allow for the entry/exit of robot 102 and rested in temporarily in submerged stations 101.
Robot 102 is more favourable by appropriate guiding device in entering and going out for the docks 204, and the guiding device can
It is selected from：Acoustic positioning system, television camera, light, proximity transducer 219, entrance next door.
Especially, the guiding device for the part for forming the docks 204 can connect to management system 201.
Preferably, the docks 204 may include horizontal plane and the opening 203 in horizontal plane, and robot 102 exists
Park in the horizontal plane after into website 101, change system 207 by instrument and equipment module 206 and has been stopped by opening 203
Robot 102 connects.
It is noted that when modular autonomous underwater robot 102 is positioned in docks 204, the institute of the website
Stating interface system 220 allows the operation below at least one to realize：
Data communication between-robot 102 and website 101；
- battery 312 of robot 102 is recharged.
In a preferred embodiment of the invention, the interface system 220 is made up of direct attachment means, such as connection is inserted
Seat or contact element.
In an alternative embodiment, the interface system 220 between the website 101 and the robot 102 by
Radio communication device is formed.
In this specified scheme, the battery 312 of the robot 102 can be recharged by EM induction system.
It is noted that these induction systems are well known in the art, it is available for a person skilled in the art, compares
Conventional regular works simultaneously need not apply extra limitation.
Second object of the present invention is related to a kind of equipped with the modular autonomous underwater machine for carrying measurement sensor 311
People 102, and the underwater robot 102 includes：At least one main thruster 302；Pushed away for pinpoint at least one auxiliary
Enter device 305,306,307；Shell 301；At least one electronic control module 313；At least one energy reserve device 312；At least one
Individual connection system 308, it is characterised in that：The underwater robot 102 includes being used to be attached at least one external instrument equipment mould
The device 317 of block 206, wherein, the external instrument EM equipment module 206 is equipped with least one measurement sensor 314.
In a preferred embodiment of the invention, the main thruster 302 and pinpoint auxiliary propeller 305,306,
307 have propeller, and are operated by least one motor 310 in shell 301, and the motor 310 is preferably electronic.
Especially, sidepiece propeller 305, anterior propeller 306 and top/bottom propeller 307 exist for robot 102
Precise displacement in space, so as to give its wide in range manipulation and stationkeeping ability.
The maneuvering capability of robot 102 can further be promoted by one or more rudders 303.
In a preferred embodiment of the invention, the shell 301 is made up of corrosion-resistant material, preferred composite materials.
The internal part that must be operated in atmosphere, such as electronic control module 313 and energy reserve device 312, it is installed in one
In individual or multiple breakers 309, breaker 309 is preferably made from titanium and can bear preferably of up to 300 bars of high pressure.
In a preferred embodiment of the invention, the survey for carrying measurement sensor 311 and realizing at least one following parameter
Amount：
- temperature；
- electric conductivity；
The saturation degree concentration and/or percentage of-dissolved oxygen；
- turbidity；
- fluorescence (for example, being related to chlorophyll and/or CDOM)；
- pH value；
The concentration of-dissolved gas is (for example, CH4、H2S、CO2)；
The concentration (for example, PAH) of-hydrocarbon.
Especially, in shell 301 described in carry measurement sensor 311 can be by shell 301 itself
One or more opening 304 touches seawater.
In a preferred embodiment of the invention, the attachment arrangement 317 can be electromechanical starter, and cause module
206 hook robot 102.
The robot 102 may include the communicator (not shown) to be communicated with external instrument EM equipment module 206, so as to permit
Perhaps in addition to possible energy exchange, also information bidirectional is allowed to exchange, in order to by the data syn-chronization of each sensor collection.
In a preferred embodiment of the invention, the modular autonomous underwater robot 102 may include connection system 308,
The connection system 308 can engage with interface system 220, to carry out communication exchange between robot 102 and submerged stations 101.
The connection system 308 also allows to recharge to carry energy reserve device 312.
In a preferred embodiment of the invention, the modular autonomous underwater robot 102 may include electronic control module
313, electronic control module 313 manages propeller, carries sensor 311, energy reserve device 312, attachment arrangement 317, connection system
Function and the control of system 308 and the possible communicator to be communicated with external instrument EM equipment module 206.
In certain embodiments of the invention, the energy reserve device 312 is battery, preferably lithium ion or lighium polymer
Battery.
It is noted that robot can be manufactured with shell 301, the shell 301 has flat profile, is particularly
With flat lower surface, it is parked in being advantageous to robot 102 on comprehensive submerged stations 101 or on seabed.
Especially, when robot 102 is close to website 101, the lower surface of shell 301 can easily be shelved on docks
On 204 surface, so that change system 207 is intervened in robot by the opening 203 on surface.
In a preferred embodiment of the invention, the external instrument EM equipment module 206 equipped with measurement sensor 314 can
Including：
- attachment means 319；
- communicator 320；
- shell 318；
- control unit 316.
In certain embodiments of the invention, the external instrument EM equipment module 206 includes at least one internal energy source
315, preferably battery.
In the preferred embodiments of the present invention, control unit 316 and energy source 315 can be mounted in one or more breakers
In 321, breaker 321 is located in shell 318, and can bear high undersea hydrostatic pressures.
The breaker 321 is preferably made from titanium.
It is noted that in order to preferably avoid possible collision, and ensure that robot has enough fluid dynamic abilities,
The energy source 315 of described control unit 316, the sensor 314 and the inside is incorporated into the shell 318.It is described outer
Shell 318 is preferably made up of composite or another corrosion-resistant material.
In a preferred embodiment of the invention, the attachment means 319 cause instrument and equipment module 206 to hook underwater synthetic
The change system 207 of website 101 hooks robot 102, so as to ensure robot 102 in water it is mobile during it is complete
Connect.
In certain embodiments of the invention, the attachment means 319 can be mechanically or electromechanical by described control unit 316
Ground drives or is made up of the groove suitably shaped on shell 318.
In a preferred embodiment of the invention, the communicator 320 allows and external equipment (such as robot 102 or comprehensive
Close the change system 207 of submerged stations 101) swap information and/or energy supply.
In a preferred embodiment of the invention, the communicator 320 allow the measurement result realized by sensor 314 with
By those of the robot 102, to carry the measurement result that sensor 311 realizes synchronous.
In a preferred embodiment of the invention, described control unit 316 controls the function of measurement sensor 314, energy to supply
The regulation and distribution given and the engagement with robot 102.
In a preferred embodiment of the invention, the measurement sensing in the external instrument EM equipment module 206
Device 314 can select from following type sensor：
- optical sensor (camera, video recorder)；
- acoustic sensor (sonar, echo scanner)；
- automatic hydrocarbon measuring instrument；
- automatic phenol analyzer；
- automatic fine metal analysis instrument；
- automatic nutriment analyzer.
Third object of the present invention is related to the 4D method of environmental monitoring in a kind of environment under water, and it is included according to this hair
Bright synthesis submerged stations 101, at least one external instrument EM equipment module 206 according to the present invention and at least one according to this
The modular autonomous underwater robot 102 of invention, it is characterised in that：
- by comprehensive submerged stations 101, select and provide at least one outside for modular autonomous underwater robot 102
Instrument and equipment module 206；
- external instrument EM equipment module 206 is attached to modular autonomous underwater robot 102；
- modular autonomous underwater robot 102 and the external instrument EM equipment module 206 being attached with it are stood under integrated water
Point 101 leaves；
- by modular autonomous underwater robot 102 and the external instrument EM equipment module 206 being attached with it along predetermined
Route or the route calculated in real time based on the data measured by sensor perform measurement；
- pass through the sensing in modular autonomous underwater robot 102 and the external instrument EM equipment module 206 being attached with it
Device performs measurement and the Data Collection of underwater environment；
- modular autonomous underwater robot 102 returns to comprehensive submerged stations 101；
- the data being collected into by the comprehensive download of submerged stations 101；
- battery of modular autonomous underwater robot 102 is recharged by comprehensive submerged stations 101；
- modular autonomous underwater robot 102 is rested in comprehensive submerged stations 101, and subsequent appoint is performed until being connected to
Untill business；
- carry instrument and equipment 202 to underwater environment measurement by comprehensive submerged stations 101 and collect data；
- processing is collected by modular autonomous underwater robot 102, external instrument EM equipment module 206 and instrument and equipment 202
The combination of data, to analyze underwater environment.
In a preferred embodiment of the invention, methods described allows the data collected during by being associated in detection and measurement position
Put carry out environmental monitoring.
In a preferred embodiment of the invention, collected data represent at least one in the following parameter of measurement：
- temperature；
- electric conductivity；
The saturation degree concentration and/or percentage of-dissolved oxygen；
- turbidity；
The concentration and/or distribution map of-suspended particulate；
- fluorescence (for example, being related to chlorophyll and CDOM)；
- pH value；
The concentration of-dissolved gas is (for example, CH4、H2S、CO2)；
The concentration of-hydrocarbon；
The concentration of-nutriment；
The concentration of-minor metallic element；
The concentration of-phenol；
The direction of-ocean current and velocity contour；
The height of-wave and direction；
- tidal level；
- acoustic pressure (for example, by hydrophone to marine organisms, such as Cetacean, presence and by carrying out acoustics
Monitoring)；
The biological respinse (for example, opening/closing frequency of especially instrumented molluscan fixture) of-the organism to live；
- optics and/or acoustic picture, for example, examined seabed and foundation structure.
In a preferred embodiment of the invention, the route of the selection can be based on the map pre-established or based on processing i.e.
When the data collected substituted independently to be determined by management system 201, or as a kind of, can also use be connected to website
101 surface system (not shown) determines route.
In a preferred embodiment of the invention, with the collected data of time correlation after treatment, give and supervised
The full side view of the underwater environment of survey, i.e. four dimensional views.
Embodiment
Autonomous underwater system 100, the purpose is to for：It is positioned at and is related in the region 107 of oil and natural gas activity, presses
It is placed on according to shown in Fig. 1 on seabed, wherein, modular autonomous underwater robot 102 is along based on foundation structure 103 and pipeline
The predetermined paths 106 of 105 positioning are moved, and the foundation structure is connected on surface platform 104 by pipeline 105.
During detection mission 106, modular autonomous underwater robot 102 by its install carry sensor and/
Or the sensor in instrument and equipment module 206 obtains the entirety of data and the foundation structure operated wherein about marine environment
Property, after task terminates, return to the synthesis submerged stations 101 positioned at seabed.
Especially, wide about 4 km in region monitored by the autonomous underwater system 100, is about 4 kms, depth about 1,000
Rice.
Comprehensive submerged stations 101 include the metal frame 205 in such as Fig. 2, due to four branch provided with four support foots 212
Support leg 210, metal frame 205 are seated firmly on seabed.
Various systems necessary to website operation are arranged in the framework 205, and framework 205 is with 5 meters × 5 meters
Base portion and 3.5 meters of height.Especially, website includes control system 201, and the control system 201 passes through umbilical cable 211
Communicated with floating platform 104.
The control system 201 sends the information of the monitoring task of completion, and receives the letter of next task configuration
Breath.
The control system 201 also handles the distribution and regulation of the electric power received by umbilical cable 211 from surface structure.
The control system 201 also manages and the various communications for carrying instrument and equipment, the collection of measurement data and before treatment
Storage to data.
The control system 201 also assures the control (state, alarm etc.) of the various technical parameters of system.
Website 101 include inside it is two kinds of carry instrument and equipment 202, it is the instrument and equipment 209 of fixed, removable
The instrument and equipment 213 of ejector half, it allows the measurement to underwater environment various parameters.
The sensor of some instrument and equipments for carrying hereinafter is briefly described.
One kind is used for conductibility, the temperature of measurement temperature, conductance and resulting parameter (salinity, density, the velocity of sound)
Degree and depth transducer.Especially, using the CTD SBE-16 sensors of Seabird electronics, inc.s.
A kind of optical sensor for being used to measure the saturation degree concentration and/or percentage of dissolved oxygen.Especially, using AADI
The 4330F type sensors of company.
A kind of sensor for being used to measure turbidity by blue area wavelength.Especially, using the ECO- of WETLABS companies
NTU type sensors.
A kind of high-frequency acoustic sensor for being used to measure the concentration and/or distribution map of suspended particulate.Especially, use
The type sensors of AQUAscat 1000 of Aquatec companies.
A kind of luminoscope for being used to measure fluorescence, such as chlorophyll and CDOM.Especially, using WETLABS companies
ECO FL type luminoscopes.
A kind of sensor for being used to measure pH.Especially, passed using the SBE-27 types of Seabird electronics, inc.s
Sensor.
A kind of sensor for being used to measure the concentration of the methane of dissolving.Especially, using the METS types of Franatec companies
Sensor.
A kind of sensor for being used to measure the concentration of hydrocarbon.Especially, using the HydroC types of Contros companies
Sensor.
A kind of sensor for being used to measure the concentration of nutriment, the nutriment include：Nitrate, phosphate, silicon
Hydrochlorate, ammonia.Especially, using the NAS3-X scenes nutriment type sensor of Envirotech Instruments companies.
A kind of sensor for being used to measure the concentration of trace meter, the trace meter are, for example,：Copper, lead, cadmium, zinc, manganese
And iron.Especially, using the underwater volt-ampere detecting sensors of VIP of Idronaut companies.
A kind of sensor for being used to measure the direction and velocity contour of ocean current.Especially, using RD Instruments
The Workhorse Monitor ADCP acoustic Doppler ocean current profile sensors of company.
A kind of sensor for being used to measure tidal level.Especially, it is deep using the 8CB series high voltages of Paroscientific companies
Spend sensor.
A kind of sensor for being used to measure acoustic pressure.Especially, passed using the TC-4042 hydrophones type of RESON companies
Sensor.
A kind of sensor for being used to measure mollusk biologically.Especially, developed using Biota Guard companies
System.
For movable instrument and equipment 213, this includes floating unit 217 made of composite, and it contains one
Individual or multiple measurement sensors.Because cover body 217 is in water float, it can be along water column profiling.
Once these operations have been completed, electric capstan winch 216 recoils the cable 18 for connecting floating unit 217 and website 101,
So as to be repositioned to the movable instrument and equipment 213 in framework 205.
In contrast, retainer instrument equipment 209 is strongly bound framework 205, but in the case of necessary, by making
Thing is intervened with the conventional subsea of the ROV equipped with suitable control arm, retainer instrument equipment 209 can be also substituted.
Website 101 includes docks 204 in framework, and referring to Fig. 2,4a and 5, the docks 204 include cuing scale
Very little is 4000 × 2000 millimeters of horizontal plane, and the horizontal plane can easily accommodate modular autonomous underwater robot 102.
The docks 204 also include some instrument and equipments, and these instrument and equipments are operated into support robot 102, with
It is easy to it to be positioned in website 101.Especially, some acoustic positioning systems and proximity transducer 219 are arranged on docks 204
Interior, it detects robot 102 to the close of the region.
The docks 204 are additionally included in the opening 203 in horizontal support face, pass through opening 203, external instrument equipment mould
Block 206 is installed in robot 102.
When entering website 101, robot 102 is positioned in ad-hoc location in the plane of docks 204, the position
Putting allows change system 207 easily to be operated by the opening 203 of plane to robot 102, to deposit and change external instrument
EM equipment module 206.
Especially, the instrument and equipment module 206 unloaded from robot 102 is positioned at parking area 208 by change system 207
It is interior, and the instruction from control system 201 is received, it is positioned at robot so as to which new external instrument EM equipment module 206 is moved into
On 102.
All available external instrument EM equipment modules 206 are all contained in parking area 208, and especially, they are contained in
In conveyer belt system, by rotation, the conveyer belt system is easy to remove the module 206 for being intended for performing monitor task；It is surplus
Remaining module 206 is still with transmitting band connection, to recharge and configure operation.
Once instrument and equipment module 206 is removed, change system 207 just by the band of instrument and equipment module 206 into it is attached
Connection device 317 is accordingly put into the lower section of robot 102, then, completes the attended operation of external module 206 and robot 102.
The external instrument EM equipment module 206 used has attachment means 319, and attachment means 319 are dashed forward relative to shell 318
Go out, as illustrated in fig. 4 c.
These attachment means 319 permission module is connected to the attachment arrangement 317 of change system 207 and robot.
Especially, the shell 318 of external instrument EM equipment module 206 is made up of composite.
Part in module must operate in atmosphere, such as control unit 316 and internal energy source 315, and they are mounted in
In the high voltage bearing water sealing container 321 of energy.
External instrument EM equipment module 206 has the cylindrical form with flush end, and in some configurations, length reaches 1500 millis
Rice, diameter reach 250 millimeters.
When module 206, which is equipped with system 207, correctly lays, attachment arrangement 317 will block external instrument EM equipment module 206
Plug is in robot 102.
The electromechanical assembly release of system 207 is only then equipped with, module 206 could return to deposit position.
Instrument and equipment module 206 also has an appropriate attachment means, the attachment means as a communicator 320,
For the information and data exchange with robot 102 or with submerged stations 101.
The connection permission exchanges with the information of input and the output of module 206.
Especially, when module 206 is connected to robot 102 by attachment arrangement 317, communicator 320 touches mould
The attachment means (not shown) of block formula autonomous underwater robot 102.
Apparatus 311 and 314 is synchronous by the connection, so as to obtain the single-measurement with association in time.
The modular autonomous underwater robot 102 used has the shell 301 with flat pattern, on seabed and to stand
Preferably support is provided in the plane 204 of point 101；And including one group of propeller, these propellers enable the device three
Motion is (referring to Fig. 3 b) in dimension space.Especially, two main thrusters 302 are located at the stern of robot 102, and in machine
Two rear portion auxiliary side propellers 305 and four anterior auxiliary side propellers 306 are located on the both sides of device people 102.Finally, exist
There are two upper and lower part auxiliary propellers 307 on per side, they are located at the bow and stern of robot 102.All pushes away
Enter device all by electric motor drive.
The maximum flexibility that robot is moved and positioned in space has been given in the combination of all propellers, has returned and has run
When make the possibility that robot 102 flatly stablizes.
These propellers are powered by rechargeable lithium ion battery 312, and lithium ion battery 312 can ensure that at least eight is small
When autonomous operation.
Rudder 303 also promotes the manipulation and foundation that the track followed is treated in detection process 106 is monitored.
Robot 102 carries sensor 311 by the opening 304 on shell 301 directly and contact with sea water.
Robot 102 has following size：3750 × 1500 × 750 millimeters (length × width × heights).
The carry sensor 311 and the measurement sensor 314 of external instrument EM equipment module 206 of robot 102 allow to measure
It is related to the quantity of parameters of time and position.Especially, robotic equipment carries instrument and equipment and is used to measure following parameter：
- temperature, conductance and pressure, measured by the CTD SBE-49 sensors of Seabird companies；
- turbidity, measured by the ECO-NTU types sensor of WETLABS companies；
- it is used for chlorophyll and CDOM fluorescence, measured by the ECO FL sensors of WETLABS companies；
The concentration and saturation degree percentage of-dissolved oxygen, measured by the 4330F types sensor of AADI companies；
The volumetric concentration of-PAH hydrocarbons, measured by the HydroC sensors of CONTROS companies.
External instrument EM equipment module 206 may be connected to robot and may be selected according to task program, and it contemplates following
Scheme：
Water sampling module, the Autosampler Aqua equipped with Envirotech Instruments companies
Monitor,
Observe module, leak detection or visual inspection for underwater facility, for example, oil pipe, manifold, PLEMS etc..Its
Equipped with for monitoring with the instrument and equipment of following parameters/data：
- image and video, the high-resolution color video camera produced by ROS (remote ocean system) company
INSPECTOR HD show；
The concentration of-methane, showed by the METS sensors of Franatech companies；
The volumetric concentration of-PAH hydrocarbons, shown by the HydroC sensors of CONTROS companies；
The presence of-pigment tracer, is shown by optical measuring system Bowtech, Bowtech using LED-540 lamps and
Monochromatic remote camera 600TVL.
Pollutant analysis module, for measuring following parameter in original place：
The concentration of-minor metallic element, pass through the VIP detector measurements of Idronaut companies；
The concentration of-specific hydrocarbon, is measured by one or more analyzers；
The concentration of-phenol, is measured by analyzer；
The concentration of-nutriment, measured by the NAS3-X sensors of Envirotech Instruments companies.
Acoustic measurement module, the synthesis perforate sound produced using Applied Signal Technology Inc companies
The Prosas Surveyor that receive are measured.
Finally, it is obvious that the system so conceived, many modifications and variations can be carried out, but be included in the present invention；
Moreover, all details can be substituted by technically equivalent element.In practice, material used and size, all
It can be changed according to technical requirements.
Claims (13)
1. a kind of autonomous underwater system (100) for environmental monitoring, including：Comprehensive submerged stations (101), under the integrated water
Site equipment carries instrument and equipment (202)；At least one modular autonomous underwater robot (102), the modular are autonomous
Underwater robot is being treated to move along fixed route (106) in area to be monitored (107)；It is autonomous that the modular can be attached to
At least one external instrument equipment (206) of underwater robot (102), the external instrument EM equipment module (206) are configured to
The modular autonomous underwater robot (102) it is described perform monitoring task in area to be monitored (107) when collect on
The data of the integrality of underwater environment and the foundation structure on operating wherein；
Characterized in that, the comprehensive submerged stations (101) include：
- at least one docks (204), the docks are suitable to accommodate the modular autonomous underwater robot (102)；
- at least one interface system (220), the interface system are suitable to the modular autonomous underwater robot with having stopped
(102) communicate；
- at least one conveyer structure (207), the conveyer structure are suitable for the modular autonomous underwater machine stopped
Device people (102) provides at least one external instrument equipment (206), and including at least one diamond (208), it is described to stop
Area is put to be suitable to deposit at least one external instrument equipment (206)；
- at least one management system (201), the management system are suitable to the operation for managing the comprehensive submerged stations (101).
2. the autonomous underwater system (100) according to claim 1 for environmental monitoring, wherein, the modular is autonomous
Underwater robot (102) treats area to be monitored (107) described in being detected by being moved along fixed route (106), described to specify
Route according to by same modular autonomous underwater robot carry out from the path of host computer or pre-programmed path.
3. the autonomous underwater system (100) according to claim 1 or 2 for environmental monitoring, wherein, the modular is certainly
Main underwater robot (102) treats to perform monitoring task in area to be monitored (107) described, by installed in the autonomous water of modular
Instrument and equipment on lower robot (102) and/or by the external instrument equipment (206), collecting on underwater environment and
On the data of the integrality of foundation structure operated in environment under water.
4. the autonomous underwater system (100) according to claim 1 for environmental monitoring, wherein, it is described at least one outer
Portion's instrument and equipment (206) is maintained at least one diamond (208), and the diamond is located at the comprehensive submerged stations
Interior and equip organic electrical devices, the electromechanical assembly allows at least one external instrument equipment (206) with being stood under integrated water
Point connection/disengagement connection.
5. the autonomous underwater system (100) according to claim 1 for environmental monitoring, wherein, stood under the integrated water
What point (101) included carry, and instrument and equipment (202) is fixed carry instrument and equipment (209) or movable carry instrument and equipment
(213), suitable for measuring at least one following parameter：
- temperature；
- electric conductivity；
The concentration and/or saturation degree percentage of-dissolved oxygen；
- turbidity；
The concentration and/or distribution map of-suspended particulate；
- fluorescence；
- pH value；
The concentration of-dissolved gas；
The concentration of-hydrocarbon；
The concentration of-nutriment；
The concentration of-trace meter；
The direction of-ocean current and velocity contour；
The height of-wave and direction；
- tidal level；
- acoustic pressure；
The biological respinse of-the organism to live.
6. the autonomous underwater system (100) according to claim 5 for environmental monitoring, wherein, the fixation carries
Instrument and equipment (209) is fully accommodated in framework (205), and including at least one sensor (214) and at least one local
Control unit (215), the institute that the local control unit is suitable to manage the sensor are functional.
7. the autonomous underwater system (100) according to claim 6 for environmental monitoring, wherein, described movable carries
Instrument and equipment (213) and the difference for carrying instrument and equipment (209) of the fixation are, due to floating unit (217), institute
Stating the movable instrument and equipment that carries can remove from comprehensive submerged stations (101), and floating unit inner containment has cable (218) and extremely
A few sensor, the cable prevent floating unit disengages with comprehensive submerged stations (101) from connecting.
8. the autonomous underwater system (100) according to claim 1 or 2 for environmental monitoring, wherein, the management system
(201) surface structure (104) can be connected to by least one umbilical cable (211), the umbilical cable allows to integrate
The data transfer and/or supply energy of submerged stations (101).
9. the autonomous underwater system (100) according to claim 1 for environmental monitoring, wherein, modular autonomous underwater
Entering and going out in the docks (204) of robot (102) is promoted by guiding device, and the guiding device is selected from：Sound is determined
Position system, video camera, light, proximity transducer (219), funnel.
10. the autonomous underwater system (100) according to claim 1 or 2 for environmental monitoring, wherein, when modular from
When main underwater robot (102) is positioned in docks (204), the interface system (220) of the comprehensive submerged stations
At least one following operation is allowed to realize：
Data communication between-modular autonomous underwater robot (102) and comprehensive submerged stations (101)；
- batteries (312) of modular autonomous underwater robot (102) is recharged.
11. the autonomous underwater system (100) according to claim 10 for environmental monitoring, wherein, the interface system
(220) it is made up of direct attachment means.
12. the autonomous underwater system (100) according to claim 10 for environmental monitoring, wherein, under the integrated water
The interface system (220) between website (101) and the modular autonomous underwater robot (102) is by radio communication device
Form.
13. the autonomous underwater system (100) according to claim 11 for environmental monitoring, wherein, it is described directly to connect
Tipping is set to connection socket or contact element.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610006034.0A CN105752300B (en) | 2011-05-17 | 2012-05-15 | Modular autonomous underwater robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| ITMI2011A000859 | 2011-05-17 | ||
| IT000859A ITMI20110859A1 (en) | 2011-05-17 | 2011-05-17 | INDEPENDENT SUBMARINE SYSTEM FOR 4D ENVIRONMENTAL MONITORING |
| PCT/EP2012/059072 WO2012156425A2 (en) | 2011-05-17 | 2012-05-15 | Autonomous underwater system for 4d environmental monitoring |
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| CN201610006034.0A Division CN105752300B (en) | 2011-05-17 | 2012-05-15 | Modular autonomous underwater robot |
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| CN201610006034.0A Active CN105752300B (en) | 2011-05-17 | 2012-05-15 | Modular autonomous underwater robot |
| CN201280023873.3A Active CN103796912B (en) | 2011-05-17 | 2012-05-15 | Autonomous underwater system for 4D environmental monitorings |
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| US (2) | US9718524B2 (en) |
| CN (2) | CN105752300B (en) |
| AP (2) | AP3900A (en) |
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| BR (1) | BR112013028875B1 (en) |
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| IT (1) | ITMI20110859A1 (en) |
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| US20170240258A1 (en) | 2017-08-24 |
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| CN105752300A (en) | 2016-07-13 |
| US9718524B2 (en) | 2017-08-01 |
| BR112013028875A2 (en) | 2017-01-31 |
| ITMI20110859A1 (en) | 2012-11-18 |
| NO20131516A1 (en) | 2013-11-29 |
| RU2590800C2 (en) | 2016-07-10 |
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